Estimate Target Position using MIMO Radar

A distributed MIMO radar system with two transmit anchors and five receive anchors measures the TSOA from each transmit-receive anchor pairs. Then, the radar system applies the two-step WLLS algorithm using the TSOA estimates and anchor positions. The data is loaded from TSOAEstimatorExampleData, whose variables are listed here:

Parameter	Description	Size
tsoaest	TSOA estimates	2-by-5
tsoavar	TSOA estimate variance	2-by-5
txpos	Transmit anchor positions	3-by-2
rxpos	Receive anchor positions	3-by-5
tgtpos	True target position	3-by-1

First, load data from mat-file.

load TSOAEstimatorExampleData

Draw the positions of the transmitters and receivers.

plot3(txpos(1,:),txpos(2,:),txpos(3,:),'.')
a = 50;
axis([-a a -a a -a a])
hold on
plot3(rxpos(1,:),rxpos(2,:),rxpos(3,:),'m.')
plot3(tgtpos(1,:),tgtpos(2,:),tgtpos(3,:),'go')

Estimate and plot the target position.

[tgtposest,tgtposcov] = tsoaposest(tsoaest,tsoavar,txpos,rxpos);
plot3(tgtposest(1,:),tgtposest(2,:),tgtposest(3,:),'.k')
legend('Transmitters','Receivers','Target','Estimated Target')

RMSE of target position estimate.

rmsepos = rmse(tgtposest,tgtpos);
disp(['RMS TSOA positioning error = ',num2str(rmsepos),' meters.'])

RMS TSOA positioning error = 0.1131 meters.